Work

Technical Description, Modelling, and Simulation of the U-CAT Underwater Vehicle

Year: 2025

Type: article

Abstract: This publication presents the technical description, modelling, and simulation of the U-CAT underwater vehicle, a bio-inspired autonomous robot designed for archaeological shipwreck exploration. U-CAT features a unique four-finned propulsion system optimized for maneuverability in confined underwater environments. The work provides detailed insights into the vehicle’s hardware, kinematics, dynamics, hydrodynamic modelling, fin dynamics, and control allocation strategies. It further introduces simulation frameworks and numerical parameters that capture the physical behavior of the robot, enabling future research in underwater robotics and control systems.

Source: Zenodo (CERN European Organization for Nuclear Research)

DOI: 10.5281/zenodo.17079739

Authors: REMMAS, Walid, Meurer, Christian, Hamamatsu, Yuya, Chemori, Ahmed, Kruusmaa, Maarja

Institutions: University of Bremen, Tallinn University of Technology, Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier

Language: English

Topic: Underwater Vehicles and Communication Systems

Subfield: Ocean Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

OpenAlex ID: W7080574435

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